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Rename TRIM_ROLL/PITCH/YAW-> FW_TRIM_ROLL/PITCH/YAW

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-04-03 09:13:42 +02:00
parent d6d2b41c39
commit a10f775a70
9 changed files with 40 additions and 19 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane
+1 -1
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@@ -12,7 +12,7 @@ param set-default NPFG_PERIOD 12
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.5
param set-default FW_PR_I 0.5
param set-default TRIM_PITCH -0.15
param set-default FW_TRIM_PITCH -0.15
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MIN -15
ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam
+1 -1
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@@ -14,7 +14,7 @@ param set-default NPFG_PERIOD 12
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.5
param set-default FW_PR_I 0.5
param set-default TRIM_PITCH -0.15
param set-default FW_TRIM_PITCH -0.15
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MIN -15
ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult
+1 -1
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@@ -16,7 +16,7 @@ param set-default NPFG_PERIOD 12
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.5
param set-default FW_PR_I 0.5
param set-default TRIM_PITCH -0.15
param set-default FW_TRIM_PITCH -0.15
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MIN -15
ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider
+1 -1
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@@ -14,7 +14,7 @@ param set-default NPFG_PERIOD 12
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.5
param set-default FW_PR_I 0.5
param set-default TRIM_PITCH -0.15
param set-default FW_TRIM_PITCH -0.15
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MIN -15
ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar
+1 -1
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@@ -14,7 +14,7 @@ param set-default NPFG_PERIOD 12
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.5
param set-default FW_PR_I 0.5
param set-default TRIM_PITCH -0.15
param set-default FW_TRIM_PITCH -0.15
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MIN -15
ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
+1 -1
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@@ -26,7 +26,7 @@ param set-default NPFG_PERIOD 12
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.5
param set-default FW_PR_I 0.5
param set-default TRIM_PITCH -0.15
param set-default FW_TRIM_PITCH -0.15
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MIN -15
src/lib/parameters/param_translation.cpp
+22 -1
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -73,5 +73,26 @@ param_modify_on_import_ret param_modify_on_import(bson_node_t node)
}
}
// 2024-04-03: translate TRIM_ROLL/PITCH/YAW-> FW_TRIM_ROLL/PITCH/YAW
{
if (strcmp("TRIM_ROLL", node->name) == 0) {
strcpy(node->name, "FW_TRIM_ROLL");
PX4_INFO("copying %s -> %s", "TRIM_ROLL", "FW_TRIM_ROLL");
return param_modify_on_import_ret::PARAM_MODIFIED;
}
if (strcmp("TRIM_PITCH", node->name) == 0) {
strcpy(node->name, "FW_TRIM_PITCH");
PX4_INFO("copying %s -> %s", "TRIM_PITCH", "FW_TRIM_PITCH");
return param_modify_on_import_ret::PARAM_MODIFIED;
}
if (strcmp("TRIM_YAW", node->name) == 0) {
strcpy(node->name, "FW_TRIM_YAW");
PX4_INFO("copying %s -> %s", "TRIM_YAW", "FW_TRIM_YAW");
return param_modify_on_import_ret::PARAM_MODIFIED;
}
}
return param_modify_on_import_ret::PARAM_NOT_MODIFIED;
}
src/modules/fw_rate_control/FixedwingRateControl.hpp
+3 -3
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@@ -200,9 +200,9 @@ private:
(ParamFloat<px4::params::FW_YR_P>) _param_fw_yr_p,
(ParamFloat<px4::params::FW_YR_D>) _param_fw_yr_d,
(ParamFloat<px4::params::TRIM_PITCH>) _param_trim_pitch,
(ParamFloat<px4::params::TRIM_ROLL>) _param_trim_roll,
(ParamFloat<px4::params::TRIM_YAW>) _param_trim_yaw,
(ParamFloat<px4::params::FW_TRIM_PITCH>) _param_trim_pitch,
(ParamFloat<px4::params::FW_TRIM_ROLL>) _param_trim_roll,
(ParamFloat<px4::params::FW_TRIM_YAW>) _param_trim_yaw,
(ParamInt<px4::params::FW_SPOILERS_MAN>) _param_fw_spoilers_man
)
src/modules/fw_rate_control/fw_rate_control_params.c
+9 -9
View File
@@ -298,7 +298,7 @@ PARAM_DEFINE_INT32(FW_ARSP_SCALE_EN, 1);
/**
* Roll trim increment at minimum airspeed
*
* This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.
* This increment is added to FW_TRIM_ROLL when airspeed is FW_AIRSPD_MIN.
*
* @group FW Rate Control
* @min -0.5
@@ -311,7 +311,7 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_R_VMIN, 0.0f);
/**
* Pitch trim increment at minimum airspeed
*
* This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.
* This increment is added to FW_TRIM_PITCH when airspeed is FW_AIRSPD_MIN.
*
* @group FW Rate Control
* @min -0.5
@@ -324,7 +324,7 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_P_VMIN, 0.0f);
/**
* Yaw trim increment at minimum airspeed
*
* This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.
* This increment is added to FW_TRIM_YAW when airspeed is FW_AIRSPD_MIN.
*
* @group FW Rate Control
* @min -0.5
@@ -337,7 +337,7 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_Y_VMIN, 0.0f);
/**
* Roll trim increment at maximum airspeed
*
* This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.
* This increment is added to FW_TRIM_ROLL when airspeed is FW_AIRSPD_MAX.
*
* @group FW Rate Control
* @min -0.5
@@ -350,7 +350,7 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_R_VMAX, 0.0f);
/**
* Pitch trim increment at maximum airspeed
*
* This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.
* This increment is added to FW_TRIM_PITCH when airspeed is FW_AIRSPD_MAX.
*
* @group FW Rate Control
* @min -0.5
@@ -363,7 +363,7 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_P_VMAX, 0.0f);
/**
* Yaw trim increment at maximum airspeed
*
* This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.
* This increment is added to FW_TRIM_YAW when airspeed is FW_AIRSPD_MAX.
*
* @group FW Rate Control
* @min -0.5
@@ -467,7 +467,7 @@ PARAM_DEFINE_INT32(FW_ACRO_YAW_EN, 0);
* @decimal 2
* @increment 0.01
*/
PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
PARAM_DEFINE_FLOAT(FW_TRIM_ROLL, 0.0f);
/**
* Pitch trim
@@ -481,7 +481,7 @@ PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
* @decimal 2
* @increment 0.01
*/
PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
PARAM_DEFINE_FLOAT(FW_TRIM_PITCH, 0.0f);
/**
* Yaw trim
@@ -495,4 +495,4 @@ PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
* @decimal 2
* @increment 0.01
*/
PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
PARAM_DEFINE_FLOAT(FW_TRIM_YAW, 0.0f);